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Add physDisableDeactivation() LSL function to ExtendedPhysics.

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Add implementation of physDisableDeactivation to BulletSim.
This commit is contained in:
Robert Adams
2023-05-23 16:41:22 +00:00
parent dd9e365e00
commit cafbf1c977
3 changed files with 131 additions and 57 deletions
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5
OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
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@@ -114,6 +114,8 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// All axis free.
LockedLinearAxis = LockedAxisFree;
LockedAngularAxis = LockedAxisFree;
DisableDeactivation = false; // by default, objects can be deactivated (ie, not checked for collisions)
}
// Tell the object to clean up.
@@ -371,6 +373,9 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
// Set 'true' if physical object should never be deactivated
public bool DisableDeactivation;
public OMV.Vector3 LockedLinearAxis; // zero means locked. one means free.
public OMV.Vector3 LockedAngularAxis; // zero means locked. one means free.
public const float FreeAxis = 1f;

158
OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
View File

@@ -1008,16 +1008,27 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Various values for simulation limits
PhysScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping);
PhysScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime);
// Whether to allow deactivation of this body when it is at rest.
if (this.DisableDeactivation)
{
// The user has asked that the physical object never be deactivated.
PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION);
// DetailLog("{0},BSPrim.MakeDynamic,set ActivationState=DISABLE_DEACTIVATION", LocalID);
}
else
{
// Force activation of the object so Bullet will act on it.
// Must do the ForceActivationState() to overcome the DISABLE_SIMULATION from static objects.
PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
// DetailLog("{0},BSPrim.MakeDynamic,set ActivationState=ACTIVE_TAG", LocalID);
}
PhysScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold);
// This collides like an object.
PhysBody.collisionType = CollisionType.Dynamic;
// Force activation of the object so Bullet will act on it.
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
}
}
@@ -1642,6 +1653,9 @@ namespace OpenSim.Region.PhysicsModule.BulletS
case ExtendedPhysics.PhysFunctAxisLockLimits:
ret = SetAxisLockLimitsExtension(pParams);
break;
case ExtendedPhysics.PhysFunctDisableDeactivation:
ret = DisableDeactivationExtension(pParams);
break;
default:
ret = base.Extension(pFunct, pParams);
break;
@@ -1673,58 +1687,54 @@ namespace OpenSim.Region.PhysicsModule.BulletS
object ret = null;
try
{
if (pParams.GetLength(0) > 1)
int index = 2;
while (index < pParams.GetLength(0))
{
int index = 2;
while (index < pParams.GetLength(0))
var funct = PassedParam<int>(pParams, index, 1);
DetailLog("{0} SetAxisLockLimitsExtension. op={1}, index={2}", LocalID, funct, index);
switch (funct)
{
var funct = pParams[index];
DetailLog("{0} SetAxisLockLimitsExtension. op={1}, index={2}", LocalID, funct, index);
if (funct is Int32 || funct is Int64)
{
switch ((int)funct)
{
// Those that take no parameters
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
case ExtendedPhysics.PHYS_AXIS_UNLOCK:
ApplyAxisLimits((int)funct, 0f, 0f);
index += 1;
break;
// Those that take two parameters (the limits)
case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
ApplyAxisLimits((int)funct, (float)pParams[index + 1], (float)pParams[index + 2]);
index += 3;
break;
default:
m_log.WarnFormat("{0} SetSxisLockLimitsExtension. Unknown op={1}", LogHeader, funct);
index += 1;
break;
}
}
// Those that take no parameters
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR:
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_X:
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Y:
case ExtendedPhysics.PHYS_AXIS_LOCK_LINEAR_Z:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_X:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Y:
case ExtendedPhysics.PHYS_AXIS_LOCK_ANGULAR_Z:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_X:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Y:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_LINEAR_Z:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_X:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Y:
case ExtendedPhysics.PHYS_AXIS_UNLOCK_ANGULAR_Z:
case ExtendedPhysics.PHYS_AXIS_UNLOCK:
ApplyAxisLimits((int)funct, 0f, 0f);
index += 1;
break;
// Those that take two parameters (the limits)
case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_X:
case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Y:
case ExtendedPhysics.PHYS_AXIS_LIMIT_LINEAR_Z:
case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_X:
case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Y:
case ExtendedPhysics.PHYS_AXIS_LIMIT_ANGULAR_Z:
var low = PassedParam<float>(pParams, index + 1, 0f);
var high = PassedParam<float>(pParams, index + 2, 0f);
ApplyAxisLimits((int)funct, low, high);
index += 3;
break;
default:
m_log.WarnFormat("{0} SetSxisLockLimitsExtension. Unknown op={1}", LogHeader, funct);
index += 1;
break;
}
InitializeAxisActor();
ret = (object)index;
}
InitializeAxisActor();
ret = (object)index;
}
catch (Exception e)
{
@@ -1733,11 +1743,45 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
return ret; // not implemented yet
}
private object DisableDeactivationExtension(object[] pParams)
{
object ret = null;
try
{
var disable = PassedParam<int>(pParams, 2, 0);
DetailLog("{0} DisableDeactivationExtension. disable={1}", LocalID, disable);
this.DisableDeactivation = (disable != 0);
ret = (object)1;
// Set the locking parameters.
// If an axis is locked, the limits for the axis are set to zero,
// If the axis is being constrained, the high and low value are passed and set.
// When done here, LockedXXXAxis flags are set and LockedXXXAxixLow/High are set to the range.
// Update parameters so the prim is rebuilt with the new settings
PhysScene.TaintedObject(LocalID, "BSPrim.DisableDeactivationExtension", () => { UpdatePhysicalParameters(); });
}
catch (Exception e)
{
m_log.WarnFormat("{0} DisableDeactivationExtension exception in object {1}: {2}", LogHeader, this.Name, e);
ret = null;
}
return ret; // not implemented yet
}
// Get the passed parameter if it exists and is of the right type.
// This returns the default value if the parameter is not present or is the wrong type.
private T PassedParam<T>(object[] pParams, int index, T defaultValue)
{
if (pParams.GetLength(0) > index)
{
if (pParams[index] is T)
{
return (T)pParams[index];
}
}
return defaultValue;
}
// Set the locking parameters.
// If an axis is locked, the limits for the axis are set to zero,
// If the axis is being constrained, the high and low value are passed and set.
// When done here, LockedXXXAxis flags are set and LockedXXXAxixLow/High are set to the range.
protected void ApplyAxisLimits(int funct, float low, float high)
{
DetailLog("{0} ApplyAxisLimits. op={1}, low={2}, high={3}", LocalID, funct, low, high);

25
OpenSim/Region/PhysicsModules/BulletS/ExtendedPhysics.cs
View File

@@ -67,6 +67,8 @@ namespace OpenSim.Region.PhysicsModule.BulletS
public const string PhysFunctChangeLinkParams = "BulletSim.ChangeLinkParams";
public const string PhysFunctAxisLockLimits = "BulletSim.AxisLockLimits";
public const string PhysFunctDisableDeactivation = "BulletSim.DisableDeactivation";
// =============================================================
private IConfig Configuration { get; set; }
@@ -138,6 +140,9 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
// Register as LSL functions all the [ScriptInvocation] marked methods.
// NOTE: YEngine keeps functions as region specific but constants are global static
// so if this is used in multiple regions on a simulator, the constants will
// show up as being redefined.
Comms.RegisterScriptInvocations(this);
Comms.RegisterConstants(this);
@@ -176,6 +181,26 @@ namespace OpenSim.Region.PhysicsModule.BulletS
return ret;
}
[ScriptInvocation]
public float physDisableDeactivation(UUID hostId, UUID scriptId, int disable)
{
int ret = -1;
if (!Enabled) return ret;
if (BaseScene.PhysicsScene != null)
{
if (GetRootPhysActor(hostId, out PhysicsActor rootPhysActor))
{
m_log.DebugFormat("{0} physDisableDeactivation: hostId={1}, scriptId={2}, val={3}", LogHeader, hostId, scriptId, disable);
object[] parms2 = { rootPhysActor, null, disable };
ret = MakeIntError(rootPhysActor.Extension(PhysFunctDisableDeactivation, parms2));
}
}
return ret;
}
// Code for specifying params.
// The choice if 14700 is arbitrary and only serves to catch parameter code misuse.
[ScriptConstant]